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  <div class="headertitle"><div class="title">can_comm.h</div></div>
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<a href="can__comm_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#ifndef CAN_COMM_H</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#define CAN_COMM_H</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span> </div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &quot;bsp_can.h&quot;</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &quot;daemon.h&quot;</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#define MX_CAN_COMM_COUNT 4 </span><span class="comment">// 注意均衡负载,一条总线上不要挂载过多的外设</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#define CAN_COMM_MAX_BUFFSIZE 60 </span><span class="comment">// 最大发送/接收字节数,如果不够可以增加此数值</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="preprocessor">#define CAN_COMM_HEADER &#39;s&#39;      </span><span class="comment">// 帧头</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="preprocessor">#define CAN_COMM_TAIL &#39;e&#39;        </span><span class="comment">// 帧尾</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="preprocessor">#define CAN_COMM_OFFSET_BYTES 4  </span><span class="comment">// &#39;s&#39;+ datalen + &#39;e&#39; + crc8</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="preprocessor">#pragma pack(1)</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="comment">/* CAN comm 结构体, 拥有CAN comm的app应该包含一个CAN comm指针 */</span></div>
<div class="foldopen" id="foldopen00026" data-start="{" data-end="};">
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="struct_c_a_n_comm_instance.html">   26</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>{</div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    CANInstance *can_ins;</div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="comment">/* 发送部分 */</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    uint8_t send_data_len; <span class="comment">// 发送数据长度</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    uint8_t send_buf_len;  <span class="comment">// 发送缓冲区长度,为发送数据长度+帧头单包数据长度帧尾以及校验和(4)</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    uint8_t raw_sendbuf[CAN_COMM_MAX_BUFFSIZE + CAN_COMM_OFFSET_BYTES]; <span class="comment">// 额外4个bytes保存帧头帧尾和校验和</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <span class="comment">/* 接收部分 */</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    uint8_t recv_data_len; <span class="comment">// 接收数据长度</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    uint8_t recv_buf_len;  <span class="comment">// 接收缓冲区长度,为接收数据长度+帧头单包数据长度帧尾以及校验和(4)</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    uint8_t raw_recvbuf[CAN_COMM_MAX_BUFFSIZE + CAN_COMM_OFFSET_BYTES]; <span class="comment">// 额外4个bytes保存帧头帧尾和校验和</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    uint8_t unpacked_recv_data[CAN_COMM_MAX_BUFFSIZE];                  <span class="comment">// 解包后的数据,调用CANCommGet()后cast成对应的类型通过指针读取即可</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <span class="comment">/* 接收和更新标志位*/</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    uint8_t recv_state;   <span class="comment">// 接收状态,</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    uint8_t cur_recv_len; <span class="comment">// 当前已经接收到的数据长度(包括帧头帧尾datalen和校验和)</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    uint8_t update_flag;  <span class="comment">// 数据更新标志位,当接收到新数据时,会将此标志位置1,调用CANCommGet()后会将此标志位置0</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    DaemonInstance* comm_daemon;</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>} <a class="code hl_struct" href="struct_c_a_n_comm_instance.html">CANCommInstance</a>;</div>
</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span><span class="preprocessor">#pragma pack()</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span><span class="comment">/* CAN comm 初始化结构体 */</span></div>
<div class="foldopen" id="foldopen00048" data-start="{" data-end="};">
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="struct_c_a_n_comm___init___config__s.html">   48</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>{</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    <a class="code hl_struct" href="struct_c_a_n___init___config__s.html">CAN_Init_Config_s</a> can_config; <span class="comment">// CAN初始化结构体</span></div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    uint8_t send_data_len;        <span class="comment">// 发送数据长度</span></div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    uint8_t recv_data_len;        <span class="comment">// 接收数据长度</span></div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    uint16_t daemon_count; <span class="comment">// 守护进程计数,用于初始化守护进程</span></div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>} <a class="code hl_struct" href="struct_c_a_n_comm___init___config__s.html">CANComm_Init_Config_s</a>;</div>
</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span></div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span><a class="code hl_struct" href="struct_c_a_n_comm_instance.html">CANCommInstance</a> *<a class="code hl_function" href="can__comm_8h.html#a611c266bef866f02414a73b7d5584f86">CANCommInit</a>(<a class="code hl_struct" href="struct_c_a_n_comm___init___config__s.html">CANComm_Init_Config_s</a> *comm_config);</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span></div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span><span class="keywordtype">void</span> <a class="code hl_function" href="can__comm_8h.html#a034f32d1bf2deb6386ed06690f41a7a6">CANCommSend</a>(<a class="code hl_struct" href="struct_c_a_n_comm_instance.html">CANCommInstance</a> *instance, uint8_t *data);</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span></div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span><span class="keywordtype">void</span> *<a class="code hl_function" href="can__comm_8h.html#ac3cf44018acff09b65450d846df10b6d">CANCommGet</a>(<a class="code hl_struct" href="struct_c_a_n_comm_instance.html">CANCommInstance</a> *instance);</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span></div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>uint8_t <a class="code hl_function" href="can__comm_8h.html#a3e10f1654f1cea65cdb5f1e37912140d">CANCommIsOnline</a>(<a class="code hl_struct" href="struct_c_a_n_comm_instance.html">CANCommInstance</a> *instance);</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span><span class="preprocessor">#endif </span><span class="comment">// !CAN_COMM_H</span></div>
<div class="ttc" id="acan__comm_8h_html_a034f32d1bf2deb6386ed06690f41a7a6"><div class="ttname"><a href="can__comm_8h.html#a034f32d1bf2deb6386ed06690f41a7a6">CANCommSend</a></div><div class="ttdeci">void CANCommSend(CANCommInstance *instance, uint8_t *data)</div><div class="ttdoc">通过CANComm发送数据</div><div class="ttdef"><b>Definition</b> can_comm.c:106</div></div>
<div class="ttc" id="acan__comm_8h_html_a3e10f1654f1cea65cdb5f1e37912140d"><div class="ttname"><a href="can__comm_8h.html#a3e10f1654f1cea65cdb5f1e37912140d">CANCommIsOnline</a></div><div class="ttdeci">uint8_t CANCommIsOnline(CANCommInstance *instance)</div><div class="ttdoc">检查CANComm是否在线</div><div class="ttdef"><b>Definition</b> can_comm.c:131</div></div>
<div class="ttc" id="acan__comm_8h_html_a611c266bef866f02414a73b7d5584f86"><div class="ttname"><a href="can__comm_8h.html#a611c266bef866f02414a73b7d5584f86">CANCommInit</a></div><div class="ttdeci">CANCommInstance * CANCommInit(CANComm_Init_Config_s *comm_config)</div><div class="ttdoc">初始化CANComm</div><div class="ttdef"><b>Definition</b> can_comm.c:80</div></div>
<div class="ttc" id="acan__comm_8h_html_ac3cf44018acff09b65450d846df10b6d"><div class="ttname"><a href="can__comm_8h.html#ac3cf44018acff09b65450d846df10b6d">CANCommGet</a></div><div class="ttdeci">void * CANCommGet(CANCommInstance *instance)</div><div class="ttdoc">获取CANComm接收的数据,需要自己使用强制类型转换将返回的void指针转换成指定类型</div><div class="ttdef"><b>Definition</b> can_comm.c:125</div></div>
<div class="ttc" id="astruct_c_a_n___init___config__s_html"><div class="ttname"><a href="struct_c_a_n___init___config__s.html">CAN_Init_Config_s</a></div><div class="ttdef"><b>Definition</b> bsp_can.h:33</div></div>
<div class="ttc" id="astruct_c_a_n_comm___init___config__s_html"><div class="ttname"><a href="struct_c_a_n_comm___init___config__s.html">CANComm_Init_Config_s</a></div><div class="ttdef"><b>Definition</b> can_comm.h:49</div></div>
<div class="ttc" id="astruct_c_a_n_comm_instance_html"><div class="ttname"><a href="struct_c_a_n_comm_instance.html">CANCommInstance</a></div><div class="ttdef"><b>Definition</b> can_comm.h:27</div></div>
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